Design And Implementation Of Modular Mobile Robot Control Software Model Based On C/S Structure

Mobile robot is a complex electromechanical system, involving a number of differentdisciplines, multiple subsystems, such as communications systems, motion control systems,decision-making systems, etc., So the robot developed very difficult. Especially soccer robotsystem, the development of multi-robot systems face a more difficult problem. With thehardware platform and the hardware structure of complex electromechanical systems more andmore similar. Its function difference is mainly reflected in the software. The face of complexelectromechanical system software development problems, a growing number of scholars haveproposed the concept of robot operating system. Its purpose is to simplify the softwaredevelopment process and the difficulty of these complex electromechanical system of the robot.The development of the hardware platform so that the realization of this idea became possibleCombining of model-driven SOA component-based design ideas and Characteristics of thesoccer robot software system for developing the neutral mobile robot software platform. Usingthe software platform for the development of the mobile robot will greatly shorten the softwaredevelopment cycle, reduce development effort and hardware requirements, and to make thesystem easy to maintain modify. Provides a software framework for the future development ofsoccer robot system.The research robot soccer a variety of software systems design, discovery can split the unitfunction module of the software system components are encapsulated with the realization of theapplication between components. Research soccer robot hardware systems, and found the carwith limited hardware resources of the mobile robot can not afford the computation of complexsoftware features. The combination of the above proposed model based on C/S structure ofmodular mobile robot control software design. Its modular component-based design modelaimed at the entire software system, including server and client software platforms arecomponents with complex system application using the Spring framework managementcomponents. Based on C/S structure through server client with server to help op highcomputing software, reducing the burden of the hardware of the mobile robot car. And servercomponents to facilitate the development of unified and coordinated control system forpoint-to-multi-communication capabilities, and support for the future development of soccer robot system software framework.The first chapter introduces the research background, significance and international newconcept of robot software system. The second chapter describes the structure of the mobile robothardware and software systems based on C/S structure. Focuses on the SOA design patternsand model-driven design ideas. Designing software platform base on the idea.The third chapter details the design of the server software platform. It Introductions thecomponent interface designing and its operation principle and the designing of communicationmodule, task scheduling modules, design load module and the principle of communicationbetween the components.This paragraph also analysis the problem of the validity of the datawhich runs on the platform, proposes solutions. Chapter IV details the design of the componentinterface and the customer service end software platform. It also introduce Pipe communicationtechnology that used in communicating between components and XML file which managementcomponents.The fifth chapter introduces the test.Using the laboratory existing mobile robot car as a testtool. Components are installed on the robot car and the server to make the car have capable ofmoving obstacle avoidance.. In order to test the ability of multi-customer service client service,we install several components and configured in a Spring container then send the packet fromclient to server,. Looking the result which received from server to test software function.The sixth chapter is conclusion and prospect,, points out the need to further improve theplace and the research orientation for the future...